#ifndef __AAC_H
#define __AAC_H
#include <stdio.h>
#include <timer.h>
#include <fpioa.h>
#include <pwm.h>
#include <led.h>
#include <mpu6050.h>
#include <wifi.h>
#include <math.h>
typedef enum _flight_state
{
    FLIGHT_DISABLE,
    FLIGHT_STANDBY,
    FLIGHT_ENABLE,
} flight_state_t;
flight_state_t flight_en;

float roll_angle_req,pitch_angle_req,y_gyro_req;
float standby_pwm;
int roll_pwm,pitch_pwm,yaw_pwm,pwm_vtl;
float angle[3];//欧拉角
int16_t gyro[3],accel[3],gref[3];
float m1,m2,m3,m4;
float pid_angle_roll[3];
float pid_angle_pitch[3];
float pid_angle_yaw[3];
float pid_gyro_roll[3];
float pid_gyro_pitch[3];
float pid_gyro_yaw[3];
void AAC_Init();
#endif